Visual servoing of redundant manipulator with Jacobian matrix estimation using self-organizing map

Robotics and Autonomous Systems

Volumn 58, Issue 8, 2010, Pages 978-990

  Kumar, P Prem ^a   Behera, Laxmidhar ^a  

^a INDIAN INSTITUTE OF TECHNOLOGY KANPUR   (India)

Author keywords

Inverse Jacobian; Kinematic control; Redundancy resolution; Redundant manipulator; Self organizing map; Visual servoing

Indexed keywords

CONFORMAL MAPPING; DEGREES OF FREEDOM (MECHANICS); INDUSTRIAL MANIPULATORS; INVERSE KINEMATICS; INVERSE PROBLEMS; JACOBIAN MATRICES; KINEMATICS; MATRIX ALGEBRA; REDUNDANCY; REDUNDANT MANIPULATORS; ROBOT APPLICATIONS; SELF ORGANIZING MAPS; STEREO IMAGE PROCESSING; STEREO VISION; VISUAL COMMUNICATION; VISUAL SERVOING;

INVERSE KINEMATIC CONTROL; JACOBIANS; KINEMATIC CONTROL; LYAPUNOV STABILITY ANALYSIS; NETWORK-BASED LEARNING; PROPORTIONAL CONTROLLER; REDUNDANCY RESOLUTION; ROBOT MANIPULATOR;

MANIPULATORS;

EID: 80052724345     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2010.04.001     Document Type: Article

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